Controlling method of robot system, program, recording medium, and robot system

Abstract

A controlling method of a robot system is provided with highly accurately determination of an origin offset at individual joints, even with a small number of cameras. A controlling unit 08 controls a robot 01 and a camera 04 to perform a photographing step for each of pivotal joints 021, 031 and 051 to acquire photographed data, and subsequently performs computational control. The photographing step assigns predetermined coordinate angles to multiple joints of the robot 01, respectively, to cause the joints to take predetermined positions and orientations, and subsequently causes the camera 04 to photograph a mark 03 during a process of causing the robot 01 to rotate at one of the multiple joints from the predetermined position and orientation. The computational control identifies the joint causing a rotational axis offset among the multiple joints of the robot 01, based on the photographed data acquired by trajectory acquiring control.

Description

BACKGROUND OF THE INVENTION[0001]Field of the Invention[0002]The present invention relates to a robot system including a multi joint robot and a camera. More specifically, the present invention relates to a method of determining a rotational axis offset of multiple joints of a multi joint robot.[0003]Description of the Related Art[0004]Multi joint robots in which both ends of link units are coupled by pivotal joints to allow the link units to bend have been widely used. The multi joint robots typically include torsional joints that allow some of link units to rotate in cross sections perpendicular to the longitudinal directions of the link units in torsional directions. Accordingly, the multi joint robots can perform complicated movement, such as six-axis motion or seven-axis motion, which is similar to the movement of human arms.[0005]The multi joint robot may interfere with another object during installation, teaching or actual movement to cause an overload on a certain joint; the...

AI Technical Summary

Benefits of technology

[0011]The present invention has an object to provide a controlling method of a robot system that can highly accurately determine presence or absence of an origin offset at each of individual joints even with a small number of cameras.

Problems solved by technology

The multi joint robot may interfere with another object during installation, teaching or actual movement to cause an overload on a certain joint; the joint, in turn, causes an origin offset (rotational axis offset) at the joint.

Actual movement in a state where the certain joint has the origin offset may possibly reduce movement accuracy, cause a jig or a workpiece to fall off, and cause an interference with another object that results in an overload.

Evaluation of the origin offsets of many joints of the multi joint robot thus requires a skilled technician to take a long time.

However, measurement of the origin offsets of multiple joints through one camera cannot highly accurately detect the origin offsets of the respective joints.

However, installation of many cameras around the multi joint robot having a high degree of freedom is economically unfavorable.

Furthermore, it is difficult to prepare positions where the cameras are to be installed.

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